CN219749997U - AGV robot automatic guiding device - Google Patents
AGV robot automatic guiding device Download PDFInfo
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- CN219749997U CN219749997U CN202320850076.8U CN202320850076U CN219749997U CN 219749997 U CN219749997 U CN 219749997U CN 202320850076 U CN202320850076 U CN 202320850076U CN 219749997 U CN219749997 U CN 219749997U
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- 230000007306 turnover Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000872 buffer Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of AGV trolleys, and provides an automatic guiding device of an AGV robot. The track is laid on the ground, and the AGV trolley walks along the track. Auxiliary wheel pass through turn to the device connect in the both sides of AGV dolly, the auxiliary wheel collapsible in inside the AGV dolly, turn to the device drive the auxiliary wheel rotates with ground contact for adjust whole AGV dolly position. The distance sensor is installed in the both sides at AGV dolly middle part for detect AGV dolly slope numerical value. According to the utility model, the distance between the AGV and the ground is detected by the distance sensor, and the inclination degree and the angle of the auxiliary wheel to be overturned are determined, so that the position of the AGV is adjusted, and the inclination amplitude is reduced.
Description
Technical Field
The utility model relates to the technical field of AGV trolleys, in particular to an automatic guiding device of an AGV robot.
Background
An automatic AGV guide is an automated logistics device for navigating and controlling a transport vehicle such as an AGV. It typically uses laser, infrared, or magnetic technology to sense the surrounding environment, determine the current position of the vehicle, and calculate the optimal path. The AGV automatic guidance device may also be integrated with other systems, such as WMS, MES, and ERP, to achieve more efficient logistics management.
The utility model discloses a linear hall guiding device of AGV dolly and guiding method thereof, when the AGV dolly transport object, when following electromagnetic track turn, the top bears overweight or turn speed is too fast, all leads to the AGV dolly to remove unstably easily to adopt electromagnetic track to lay the scheduled route more on the walking route of AGV dolly like patent number CN 110209164B.
Disclosure of Invention
The utility model aims to: the present utility model is directed to the above drawbacks and provides an automatic guiding device for an AGV robot, which solves the above problems in the prior art.
The technical scheme is as follows: an automatic guiding device of an AGV robot comprises an AGV trolley with a built-in control system, a rail, auxiliary wheels and a distance sensor.
The track is paved on the ground, and the AGV trolley walks along the track;
auxiliary wheel, through turn to the device connect in the both sides of AGV dolly, the auxiliary wheel collapsible in inside the AGV dolly reduces overall structure size. The AGV trolley is provided with a driving wheel, and the initial position of the auxiliary wheel is higher than the driving wheel and works independently with the driving wheel. The steering device drives the auxiliary wheels to rotate and contact with the ground, and the auxiliary wheels support the AGV trolley so as to adjust the whole AGV trolley position and reduce the inclination amplitude;
and the distance sensors are arranged on two sides of the middle of the AGV trolley and are used for detecting the inclination value of the AGV trolley. The data detection device detects the distance between the auxiliary wheel top and the ground, so that the auxiliary wheel top lifting height is determined according to the numerical value difference.
In a further embodiment, the steering device comprises a connection plate, a tilting mechanism and a driving mechanism.
The connecting plate is connected to the bottom of the AGV trolley; the connecting plate is in transitional connection with the turnover mechanism and the driving mechanism, so that the turnover mechanism and the driving mechanism work without interference.
The turnover mechanism is arranged below the connecting plate, the auxiliary wheel is arranged at the tail end of the turnover mechanism, and after the driving mechanism works, the turnover mechanism drives the auxiliary wheel to be in contact with the ground.
The driving mechanism is connected to the connecting plate and is located inside the AGV, the overturning mechanism and the auxiliary wheels are driven to integrally rotate circumferentially inside and outside the AGV, and the auxiliary wheels are located outside the AGV and are not in contact with the ground.
In a further embodiment, the driving mechanism is a gear transmission mechanism, so that the auxiliary wheel can be rotated to a preset position in time, and the working efficiency is improved.
In a further embodiment, the turnover mechanism comprises a fixed rod, a hinge, and a stop rod.
The fixed rod is vertically connected to the top of the connecting plate, and the fixed rod and the connecting plate are arranged at the side ends of the driving wheel;
the hinge piece is connected with the fixed rod end, and the other end of the hinge piece is connected with the limiting rod;
the periphery of the limiting rod extends along the radial direction and is rotationally connected with the connecting plate, one end of the limiting rod is connected with the hinge piece, and the other end of the limiting rod is connected with the auxiliary wheel;
and one end of the hydraulic retraction system is connected with the side end of the limiting rod, and the other end of the hydraulic retraction system is connected with the connecting plate. The limiting rod is pushed by the hydraulic retraction system, and rotates around the rotating connection part, so that the auxiliary wheel is driven to do circumferential overturning, and the distance between the auxiliary wheel and the ground is gradually changed until the auxiliary wheel is in contact with the ground.
In a further embodiment, the limit rod is a telescopic rod, and a hydraulic damper is connected between the auxiliary wheel and the limit rod. The hydraulic damper buffers and protects the auxiliary wheel when the auxiliary wheel contacts the ground.
The beneficial effects are that: the utility model provides an automatic guiding device of an AGV robot, wherein steering devices and auxiliary wheels are arranged on two sides of an AGV trolley, the steering devices rotate the auxiliary wheels through a driving mechanism, the auxiliary wheels are retracted and placed at the bottom of the AGV trolley, the structural size is reduced, the auxiliary AGV trolley is unfolded in time during turning, and the traveling stability of the AGV trolley is improved. The turnover mechanism and the driving mechanism work independently, the universal wheels are controlled to turn until the universal wheels are in contact with the ground, the turnover angle of the universal wheels relative to the ground can be controlled according to the inclination degree of the AGV, and the AGV can be further assisted to be aligned under the condition of serious inclination. Related data under the AGV trolley tilting state is detected through distance sensors arranged on two sides, so that the universal wheel tilting angle can be controlled conveniently. When the universal wheels are in contact with the ground, the hydraulic damper achieves the buffering effect, and the AGV trolley is prevented from shaking more severely.
Drawings
Fig. 1 is an overall construction view of the present utility model (the auxiliary wheel is in a contracted state).
Fig. 2 is a schematic overall structure of another view of the present utility model (the auxiliary wheel is in a released state).
Fig. 3 is a schematic view of a partial structure in fig. 2.
The reference numerals in the drawings are as follows: AGV dolly 1, track 2, auxiliary wheel 3, steering gear 4, connecting plate 401, tilting mechanism 402, dead lever 4021, articulated rod 4022, gag lever post 4023, hydraulic system 4024, actuating mechanism 403, distance sensor 5, hydraulic damper 6, drive wheel 7.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. It will be apparent, however, to one skilled in the art that the utility model may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the utility model.
The applicant believes that in the working process, the existing AGV used for carrying and transporting walks along a set track, and when the AGV carries heavy-weight-class materials, the speed of passing through a curve is too high or the material carrying gravity center is uneven, so that the AGV can not walk stably.
In order to solve the above problems in the prior art, the present utility model provides an automatic guiding device for an AGV robot, as shown in fig. 1 to 3, comprising an AGV car 1 with a control system built therein, a track 2 laid on the ground, and the AGV car 1 traveling along the track 2. Track 2 can adopt current wireless automatic perception technique to carry with AGV dolly 1 front end sensor signal back and forth, and this type track 2 is located AGV dolly 1 middle part, and AGV dolly 1 goes in ground surface. Auxiliary wheel 3 is connected in the both sides of AGV dolly 1 through turning to device 4, and auxiliary wheel 3 is under the condition that need not the adjustment, and auxiliary wheel 3 contractible in AGV dolly 1 is inside, reduces overall structure size. The auxiliary wheels 3 and the steering device 4 are combined for use, at least two groups are arranged, the auxiliary wheels are symmetrically distributed on the left side and the right side of the AGV trolley 1 and are on the same side as the driving wheels 7, and the steering device 4 drives the auxiliary wheels 3 to rotate on the AGV trolley 1. The AGV trolley 1 is provided with a driving wheel 7, and the initial position of the auxiliary wheel 3 is higher than the driving wheel 7 and works independently with the driving wheel 7. According to the turning direction of the AGV trolley 1, the driving auxiliary wheel 3 is located outside the AGV trolley 1, the auxiliary wheel 3 extends to the inside corner of the AGV trolley 1 and is located outside the track 2, the steering device 4 drives the auxiliary wheel 3 to rotate to be in contact with the ground, at the moment, the auxiliary wheel 3 takes over the driving wheel 7 or works with the driving wheel 7 on the AGV trolley 1 according to the inclination, wherein the taking over driving wheel 7 works to lift the AGV trolley 1 according to the inclination of the AGV trolley 1, the auxiliary wheel 3 supports the AGV trolley 1 to adjust the whole AGV trolley 1 position, and the inclination is reduced. Under the condition that the inclination degree is small during turning, the auxiliary wheels 3 assist the AGV trolley 1 to walk, further stably support the AGV trolley 1, and reduce the pressure of turning to wheels.
Distance sensor 5 is installed to the both sides at AGV dolly 1 middle part, and distance sensor 5 is located the both sides of track 2 for detect AGV dolly 1 slope numerical value. The distance sensor 5 may employ a proximity switch, a lidar sensor, etc. to detect the distance to the ground, so that the elevation of the auxiliary wheel 3 is determined from the difference in values during a curve turn. The different values of the left side and the right side indicate that the AGV trolley 1 is in an inclined state, wherein the detection position corresponding to the small value directly reflects the inclination direction, the value difference can be directly reflected as the inclination angle, and then the working state of the auxiliary wheel 3 is determined. The above-mentioned numerical processing program and control mode can be directly implemented by simple programming of control system on AGV car 1, and belongs to common knowledge in the field, and the utility model is mainly used for protecting mechanical equipment.
The steering device 4 is provided with a connecting plate 401, the connecting plate 401 is connected to the bottom of the AGV trolley 1, and the connecting plate 401 is in transitional connection with a turnover mechanism 402 and a driving mechanism 403, so that the driving mechanism 403 independently drives the connecting plate 401 and the turnover mechanism 402 to integrally rotate together, and the turnover mechanism 402 independently drives the auxiliary wheel 3 to turn over, so that the work of the auxiliary wheel 3 is not interfered with each other. The tilting mechanism 402 is arranged below the connecting plate 401, the auxiliary wheel 3 is arranged at the tail end of the tilting mechanism 402, and after the driving mechanism 403 works, the tilting mechanism 402 drives the auxiliary wheel 3 to be contacted with the ground. When the AGV 1 does not need inclination correction, the auxiliary wheel 3 abuts against the ground to stop overturning. When the AGV 1 requires tilt correction, the tilting mechanism 402 continues to push the auxiliary wheel 3 to tilt until the tilt correction is completed. The driving mechanism 403 is connected to the connection plate 401 and is located inside the AGV trolley 1, the driving mechanism 403 can adopt any existing driving device, the output end of the driving mechanism 403 drives the connection plate 401 to rotate, the turnover mechanism 402 connected with the connection plate 401 and the auxiliary wheel 3 integrally rotate circumferentially inside and outside the AGV trolley 1, the auxiliary wheel 3 is located outside the AGV trolley 1, and the auxiliary wheel 3 is not in contact with the ground at the moment.
The drive mechanism 403 is a gear transmission mechanism. The gear transmission mechanism is connected to the side end of the connecting plate 401, and when the gears rotate, the connecting plate 401 is synchronously driven to rotate, and the rotation angle value can be converted according to the rotation number of gear teeth so as to control the rotation angle of the auxiliary wheel 3, and under the condition of fixed tooth number, the auxiliary wheel 3 can be timely rotated to a preset position only by direct starting, and the working efficiency is improved.
The turnover mechanism 402 is provided with a fixing rod 4021, the fixing rod 4021 is vertically connected to the top of the connecting plate 401, and the fixing rod 4021 and the connecting plate 401 are arranged at the side ends of the driving wheel 7. The connector is connected to the end of the fixing rod 4021, and the other end of the connector is connected with the limiting rod 4023. The outer periphery of the limiting rod 4023 extends along the radial direction to be rotationally connected with the connecting plate 401, one end of the limiting rod 4023 is connected with the hinge piece, the other end of the limiting rod 4023 is connected with the auxiliary wheel 3, the auxiliary wheel 3 is arranged on the outer periphery of the driving wheel 7 according to the redundant space in the AGV trolley 1, and the overall structure size is reduced. One end of the hydraulic retraction system 4024 is connected to the side end of the limiting rod 4023, and the other end is connected to the connecting plate 401. The limiting rod 4023 is pushed by the hydraulic retraction system 4024 to push the limiting rod 4023, the limiting rod 4023 rotates around the rotating connecting part, and then the auxiliary wheel 3 is driven to perform circumferential overturning, and the distance between the auxiliary wheel 3 and the ground is gradually changed. The hydraulic retraction system 4024 is of the prior art and may be of the miniature type, with any pusher having a minimum profile length of within 60mm, to fit the internal part structure of the plate 401.
The limiting rod 4023 is a telescopic rod, and a hydraulic damper 6 is connected between the auxiliary wheel 3 and the limiting rod 4023. The hydraulic damper 6 may be any miniature hydraulic damper 6 with a stroke of about 40mm, and the hydraulic damper 6 buffers and protects the auxiliary wheel 3 when the auxiliary wheel 3 contacts the ground.
The utility model has the following concrete working modes: the AGV dolly 1 automatically walks along track 2, and distance sensor 5 is located AGV dolly 1 both sides and monitor data, according to the walking route of knowing, when AGV dolly 1 walks to the bend, steering device 4 work, and actuating mechanism 403 drives connecting plate 401 and auxiliary wheel 3 whole rotation, until auxiliary wheel 3 is located the AGV dolly 1 outside. The driving mechanism 403 stops working, the hydraulic retraction system 4024 pushes the limiting rod 4023 according to the data provided by the distance sensor 5, the limiting rod 4023 pulls the hinge rod 4022 and turns along the rotating connection part on the connecting plate 401, and then the auxiliary wheel 3 is driven to turn until the auxiliary wheel 3 contacts with the ground, and the AGV trolley 1 is assisted to turn.
As described above, although the present utility model has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the utility model itself. Various changes in form and details may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (5)
1. The utility model provides an AGV robot automatic guiding device, includes the AGV dolly that has control system in, its characterized in that still includes:
the track is paved on the ground, and the AGV trolley walks along the track;
the auxiliary wheels are connected to two sides of the AGV through steering devices, the auxiliary wheels can be contracted in the AGV, and the steering devices drive the auxiliary wheels to rotate and contact with the ground, so that the position of the whole AGV is adjusted;
and the distance sensors are arranged on two sides of the middle of the AGV trolley and are used for detecting the inclination value of the AGV trolley.
2. The automatic guidance device of an AGV robot according to claim 1, wherein said steering device comprises:
the connecting plate is connected to the bottom of the AGV trolley;
the turnover mechanism is arranged below the connecting plate, the auxiliary wheel is arranged at the tail end of the turnover mechanism, and the turnover mechanism drives the auxiliary wheel to be in contact with the ground;
the driving mechanism is connected to the connecting plate and is positioned inside the AGV, and drives the turnover mechanism and the auxiliary wheels to integrally rotate circumferentially inside and outside the AGV.
3. The automatic guided device of an AGV robot of claim 2, wherein said drive mechanism is a gear drive mechanism.
4. The automatic guidance device of an AGV robot according to claim 2, wherein said turnover mechanism comprises:
the fixed rod is vertically connected to the top of the connecting plate;
a hinge member coupled to the fixed rod end;
the periphery of the limiting rod extends along the radial direction and is rotationally connected with the connecting plate, one end of the limiting rod is connected with the hinge piece, and the other end of the limiting rod is connected with the auxiliary wheel;
and one end of the hydraulic retraction system is connected with the side end of the limiting rod, and the other end of the hydraulic retraction system is connected with the connecting plate.
5. The automatic guidance device of an AGV robot of claim 4 wherein the stop lever is a telescopic lever, and a hydraulic damper is connected between the auxiliary wheel and the stop lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320850076.8U CN219749997U (en) | 2023-04-17 | 2023-04-17 | AGV robot automatic guiding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320850076.8U CN219749997U (en) | 2023-04-17 | 2023-04-17 | AGV robot automatic guiding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219749997U true CN219749997U (en) | 2023-09-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320850076.8U Active CN219749997U (en) | 2023-04-17 | 2023-04-17 | AGV robot automatic guiding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219749997U (en) |
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2023
- 2023-04-17 CN CN202320850076.8U patent/CN219749997U/en active Active
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